CN109296370B - Tunneling method and system for automatic surveying and mapping positioning - Google Patents
Tunneling method and system for automatic surveying and mapping positioning Download PDFInfo
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- CN109296370B CN109296370B CN201811173942.4A CN201811173942A CN109296370B CN 109296370 B CN109296370 B CN 109296370B CN 201811173942 A CN201811173942 A CN 201811173942A CN 109296370 B CN109296370 B CN 109296370B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/08—Guiding the machine
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
Abstract
The invention provides a tunneling method and a tunneling system for automatic mapping and positioning, wherein the tunneling method comprises the following steps: dispersing a roadway model given by a design system into a bottom plate middle shaft multi-segment line and a roadway section profile polygon; setting a machine body coordinate system of the heading machine by taking the right direction of the heading machine as an X axis, taking the head direction of the heading machine as a Y axis and taking the general direction as a Z axis, wherein the general direction is vertical to the XOY plane; calibrating the relative position coordinate increment from the laser target ball position to the rotation center of the development machine according to the coordinate axis increment of the machine body coordinate system; positioning the position coordinates of the laser target ball of the heading machine by using a positioning robot and a north indicator; calculating the coordinates of a motion base point of a cantilever of the heading machine according to the position coordinates of the laser target ball and the relative position coordinate increment of the position of the laser target ball in a machine body coordinate system; and controlling the heading machine to cut the radial section according to the multi-segment line of the central shaft of the bottom plate, the profile polygon of the roadway section and the coordinates of the motion base point of the cantilever of the heading machine. The invention can accurately position the heading machine and has unmanned operation.
Description
Technical Field
The invention belongs to the technical field of automatic tunneling of a roadway, and particularly relates to a tunneling method and a tunneling system for automatic surveying and mapping positioning.
Background
The roadway driving of mining engineering, the tunnel driving of road engineering and the culvert driving of hydraulic engineering belong to difficult construction projects, in addition, the casualty accidents happen under the influence of complex geological conditions and geological disasters, only manual operation is needed, the labor intensity is high, the construction efficiency is low, and the personal safety and the personal health are difficult to guarantee. Therefore, various auxiliary tunneling construction machines, such as a tunneling machine, a continuous mining machine, a shield machine, a rock drilling machine, and the like, have appeared, and some of the machines have been modified to be intelligent equipment capable of realizing remote control.
At present, the most used mine is an intelligent cantilever type tunnel boring machine, although the tunnel boring machine can realize automatic control, as automatic measurement of underground space, accurate positioning of construction equipment and real-time modeling and visualization of excavation space are not realized, the full automation and unmanned realization of underground boring engineering can not be realized so far, and the technical progress of intelligent boring engineering is seriously influenced. Although the invention patent with the publication number of CN101169038A and the name of full-automatic tunneling machine provides a method for positioning a cutting head by using geodetic data and a space navigation positioning instrument, the space navigation positioning instrument cannot be directly used because there is no satellite signal underground, and so far, the positioning base point of the underground space, especially the well and lane space, is obtained by manual wire connection measurement, so the patent does not solve the problems of well and lane automatic measurement and equipment automatic positioning in an absolute geographic space, and even fails to realize automatic modeling and visualization of a tunneling working face, and cannot really realize intelligent and unmanned tunneling.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a tunneling method and a tunneling system for automatic surveying, mapping and positioning, so as to solve the technical problems.
In a first aspect, an embodiment of the present application provides a tunneling method for automatic mapping and positioning, where the method includes:
dispersing a roadway model given by a design system into a bottom plate middle shaft multi-segment line and a roadway section profile polygon;
setting a machine body coordinate system of the heading machine by taking the right direction of the heading machine as an X axis, taking the head direction of the heading machine as a Y axis and taking the general direction as a Z axis, wherein the general direction is vertical to the XOY plane;
calibrating the relative position coordinate increment from the laser target ball position to the rotation center of the development machine according to the coordinate axis increment of the machine body coordinate system;
positioning the position coordinates of the laser target ball of the heading machine by using a positioning robot and a north indicator;
calculating the coordinates of a motion base point of a cantilever of the heading machine according to the position coordinates of the laser target ball and the relative position coordinate increment of the position of the laser target ball in a machine body coordinate system;
and controlling the heading machine to cut the radial section according to the multi-segment line of the central shaft of the bottom plate, the profile polygon of the roadway section and the coordinates of the motion base point of the cantilever of the heading machine.
With reference to the first aspect, in a first implementation manner of the first aspect, the calibrating a coordinate increment of a relative position from a laser target ball position to a rotation center of the heading machine according to a coordinate axis increment of a machine body coordinate system includes:
Δx＝-Lw,Δy＝Lj,Δz＝-Dh-Jhthe increments on the three coordinate axes are set to be Δ x, Δ y, and Δ z, respectively; wherein the height of the positioning target ball is DhThe distance from the bottom point A to the center of the rotary disk along the Y axis of the machine body coordinate of the heading machine is LjThe distance from the X axis of the development machine body to the center of the rotary disk is LwThe elevation from the center of the rotary disk to the base point of the cantilever motion is Jh。
With reference to the first aspect and the first implementation manner of the first aspect, in a second implementation manner of the first aspect, the acquiring the heading machine attitude by using a north-seeking instrument includes:
obtaining the coordinate of a measurement base point of the positioning robot as (x)j，yj，zj)；
According to north-looking direction α measured by north-seeking instrumentsAnd artificial pre-magnetic bias thetacCalculate true North Direction αN＝αs+θc；
Obtaining a base point (x) by using a laser target ball on a total station or a laser radar collimation heading machine and referring to the true north directionj，yj，zj) Azimuth angle α to laser target ballfAnd angle of inclination αqAnd a pitch L;
according to the base point (x)j，yj，zj) And azimuth angle αfAnd angle of inclination αqAnd the slant distance L calculates the position (x) of the laser target ball on the heading machineb，yb，zb)：
xb＝xj+L×cos(αq)×sin(αf)
yb＝yj+L×cos(αq)×cos(αf)
zb＝zj+L×sin(αq)。
With reference to the first aspect and the first and second embodiments of the first aspect, in a third embodiment of the first aspect, the calculating the coordinates of the motion base point of the boom of the heading machine according to the coordinates of the position of the laser target ball and the incremental coordinates of the relative position of the laser target ball in the coordinate system of the machine body includes:
obtaining azimuth angle f of development machine by north indicatorjAnd a pitch angle qvAnd roll angle qh；
According to the azimuth angle fjAnd a pitch angle qvAnd roll angle qhCalculating three coordinate axes of a coordinate system of the body of the heading machine as Jx，JyAnd Jz；
Calculating the coordinate of the cantilever motion base point according to the coordinate axis and the increment of the laser target sphere coordinate, wherein the calculation formula is Pe＝(xe,ye,ze)＝Δx×Jx+Δy×Jy+Δz×Jz。
With reference to the first aspect, in a fourth implementation manner of the first aspect, the method further includes:
monitoring by using a cutting cantilever lifting oil cylinder sensor of the development machine to obtain a cutting cantilever inclination angle, monitoring by using a rotary oil cylinder sensor of a rotary table to obtain a cutting arm horizontal swing angle, and monitoring by using a telescopic oil cylinder sensor to obtain a cantilever length;
calculating the absolute position of the cutting head according to the cutting cantilever inclination angle, the cutting arm horizontal swing angle and the cantilever length;
calculating and implementing a cutting section according to the absolute position of the cutting head;
scanning a roadway by using a positioning robot to obtain a three-dimensional image of the roadway;
creating a cutting implementation model according to the cutting implementation section and the roadway three-dimensional image and sending the cutting implementation model to a remote control end;
and comparing the cutting implementation model with the original roadway model, and sending out an error alarm when the cutting implementation model is inconsistent with the original roadway model.
With reference to the first aspect, in a fifth implementation manner of the first aspect, the method further includes:
controlling the development machine to keep a static state;
by the collimation measurement of the positioning robot to the positioning laser target ball, the laser can be usedTarget ball coordinates and azimuth α for positioning robot base point to laser target ballfAnd angle of inclination αqCalculating the coordinates of a base point of the positioning robot by the aid of the inclination distance L;
and moving the positioning robot according to the base point coordinates of the positioning robot.
With reference to the first aspect and the fifth implementation manner of the first aspect, in a sixth implementation manner of the first aspect, the method further includes:
arranging two laser target balls of which the connecting lines are parallel to an X axis of a machine body coordinate system, wherein the two laser target balls are a positioning target ball and a balance target ball respectively;
reversely calculating the coordinates of a first base point of the positioning robot according to the coordinates of the positioning target ball;
reversely calculating the coordinates of a second base point of the positioning robot according to the coordinates of the adjustment target ball;
and calculating an average value of the first base point coordinate and the second base point coordinate, and using the average value as a base point coordinate of the positioning robot.
With reference to the first aspect and the sixth implementation manner of the first aspect, in a seventh implementation manner of the first aspect, the method further includes:
acquiring coordinates of a positioning target ball;
acquiring the coordinate of a balance target ball;
and correcting the posture of the heading machine according to the coordinates of the positioning target ball and the coordinates of the adjustment target ball.
With reference to the first aspect, in an eighth implementation manner of the first aspect, the controlling the heading machine to cut the radial section according to the multi-segment line of the central axis of the baseplate, the profile polygon of the roadway section, and the coordinates of the motion base point of the boom of the heading machine includes:
calculating the position coordinate of the cutting head according to the coordinate of a motion base point of a cantilever of the tunneling machine and the dip angle of the cutting cantilever, the horizontal swing angle of the cutting arm and the length of the cantilever, which are monitored by a sensor;
according to the position coordinates of the cutting head and the designed shaft center multi-segment line of the roadway, calculating the section normal vector and the profile absolute coordinates of the next cutting step distance according to the section profile polygon of the roadway at the next time segment;
generating a cutting command according to the normal vector of the section and the absolute coordinate of the outline and sending the cutting command to a heading machine controller;
and the heading machine controller controls the heading machine to execute the cutting command.
In a second aspect, the present application provides a heading system for automatic mapping and positioning, the system includes:
the system comprises a measurement control module, a positioning robot, a front industrial personal computer and a remote control end, wherein the measurement control module, the positioning robot, the front industrial personal computer and the remote control end are arranged on a tunneling machine body; the measurement control module and the positioning robot are in communication connection with the front industrial personal computer; the front industrial personal computer is in communication connection with the remote control end;
the measurement control module includes: the robot body posture monitoring gyroscope is mounted on the robot body of the heading machine, and the mounting posture of the monitoring gyroscope is consistent with a preset robot body coordinate system of the heading machine; the laser target ball is arranged at the tail part of the tunneling machine and comprises a positioning target ball and a balance target ball, and a connecting line of the positioning target ball and the balance target ball is parallel to the X axis of a preset machine body coordinate system; the measurement control module also comprises a cutting cantilever inclination angle sensor, a cutting arm horizontal swing angle sensor, a cutting head telescopic stroke sensor and a heading machine controller;
the measuring and positioning robot is provided with a tracking navigation module and a walking module, the tracking navigation module is used for positioning a laser target ball on the heading machine by emitting laser, and the tracking navigation module of the measuring and positioning robot is provided with a north indicator, an inclination sensor and a three-dimensional scanning unit.
The beneficial effect of the invention is that,
the invention provides an automatic mapping and positioning tunneling method and system, which are characterized in that a coordinate system of a machine body of a tunneling machine is created, so that the coordinate increment of a laser target ball in the machine body coordinate system relative to the rotation center of the tunneling machine is calculated, the position coordinates of the laser target ball of the tunneling machine are positioned by using a positioning robot and a north-pointing instrument, and the coordinates of a motion base point of a cantilever of the tunneling machine are obtained according to the coordinate increment and the position coordinates of the laser target ball, so that the tunneling machine is accurately positioned.
In addition, the invention has reliable design principle, simple structure and very wide application prospect.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic illustration of dynamic modeling of a roadway profile according to an embodiment of the present application;
FIG. 2 is a schematic block diagram of a system according to one embodiment of the present application;
101, the bottom plate axis of the roadway is dispersed into a plurality of sections
102. Profile polygon of roadway section
103. Multi-segment line of section cutting path
104 and 105 are both section profiles of which three-dimensional laser scanning and model updating are finished; 106. three-dimensional laser scanning is excavated and completed, but the section profile of the model is not updated; 107. the tunneling and brushing are completed, but the section profile of the three-dimensional laser scanning is not completed; 108 roadway section in which excavation is taking place; 201. a cutting head; 202. A cutting arm lifting oil cylinder; 203. the cutting head extends and retracts the cylinder; 204. a rotary oil cylinder of the rotary table; 205. a turntable; 206. a control box; 207. positioning a target ball; 208. balancing target balls; 209. a heading machine body north indicator; 210. measuring a vertical rotating shaft of the robot; 211. a measuring robot monitoring box; 212. measuring a horizontal rotating shaft of the robot; 213. measuring the robot body; 214. measuring a robot body rotation mechanism; 215. measuring a robot walking mechanism; 216. A cantilever motion base point; 217. a coordinate system of a machine body of the development machine; 218. a cantilever.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following explains key terms appearing in the present application.
As shown in fig. 1, the tunneling method 100 for automatic mapping and positioning provided by the present application includes:
step 110, dispersing a roadway model given by a design system into a bottom plate middle shaft multi-segment line and a roadway section outline polygon;
step 120, setting a machine body coordinate system of the heading machine by taking the right direction of the heading machine as an X axis, taking the head direction of the heading machine as a Y axis and taking the general direction as a Z axis, wherein the X axis is vertical to an XOY plane;
step 130, calibrating the relative position coordinate increment from the laser target ball position to the rotation center of the heading machine according to the coordinate axis increment of the machine body coordinate system;
140, positioning the position coordinates of the laser target ball of the heading machine by using a positioning robot and a north indicator;
150, calculating the coordinates of the motion base point of the cantilever of the heading machine according to the position coordinates of the laser target ball and the relative position coordinate increment of the position of the laser target ball in a machine body coordinate system;
and 160, controlling the heading machine to cut the radial section according to the multi-segment line of the central axis of the bottom plate, the profile polygon of the roadway section and the coordinates of the motion base point of the cantilever of the heading machine.
In order to facilitate understanding of the present invention, the following further describes the heading method with automatic mapping and positioning provided by the present invention with reference to the principle of the heading method with automatic mapping and positioning of the present invention and the process of performing automatic measurement and positioning in the embodiments.
Optionally, as an embodiment of the present application, the calibrating the coordinate increment of the relative position from the laser target ball position to the rotation center of the heading machine according to the coordinate axis increment of the fuselage coordinate system includes:
Δx＝-Lw,Δy＝Lj,Δz＝-Dh-Jhthe increments on the three coordinate axes are set to be Δ x, Δ y, and Δ z, respectively; wherein the height of the positioning target ball is DhThe distance from the bottom point A to the center of the rotary disk along the Y axis of the machine body coordinate of the heading machine is LjThe distance from the X axis of the development machine body to the center of the rotary disk is LwThe elevation from the center of the rotary disk to the base point of the cantilever motion is Jh。
Optionally, as an embodiment of the present application, the obtaining the heading machine attitude by using a north-seeking instrument includes:
obtaining the coordinate of a measurement base point of the positioning robot as (x)j，yj，zj)；
According to north-looking direction α measured by north-seeking instrumentsAnd artificial pre-magnetic bias thetacCalculate true North Direction αN＝αs+θc；
Obtaining a base point (x) by using a laser target ball on a total station or a laser radar collimation heading machine and referring to the true north directionj，yj，zj) Azimuth angle α to laser target ballfAnd angle of inclination αqAnd a pitch L;
according to the base point (x)j，yj，zj) Hezhong FangAzimuth αfAnd angle of inclination αqAnd the slant distance L calculates the position (x) of the laser target ball on the heading machineb，yb，zb)：
xb＝xj+L×cos(αq)×sin(αf)
yb＝yj+L×cos(αq)×cos(αf)
zb＝zj+L×sin(αq)。
Optionally, as an embodiment of the application, the calculating the coordinates of the motion base point of the boom of the heading machine according to the position coordinates of the laser target ball and the relative position coordinate increment of the position of the laser target ball in the body coordinate system includes:
obtaining azimuth angle f of development machine by north indicatorjAnd a pitch angle qvAnd roll angle qh；
According to the azimuth angle fjAnd a pitch angle qvAnd roll angle qhCalculating three coordinate axes of a coordinate system of the body of the heading machine as Jx，JyAnd Jz；
Calculating the coordinate of the cantilever motion base point according to the coordinate axis and the increment of the laser target sphere coordinate, wherein the calculation formula is Pe＝(xe,ye,ze)＝Δx×Jx+Δy×Jy+Δz×Jz。
Optionally, as an embodiment of the present application, the method further includes:
monitoring by using a cutting cantilever lifting oil cylinder sensor of the development machine to obtain a cutting cantilever inclination angle, monitoring by using a rotary oil cylinder sensor of a rotary table to obtain a cutting arm horizontal swing angle, and monitoring by using a telescopic oil cylinder sensor to obtain a cantilever length;
calculating the absolute position of the cutting head according to the cutting cantilever inclination angle, the cutting arm horizontal swing angle and the cantilever length;
calculating and implementing a cutting section according to the absolute position of the cutting head;
scanning a roadway by using a positioning robot to obtain a three-dimensional image of the roadway;
creating a cutting implementation model according to the cutting implementation section and the roadway three-dimensional image and sending the cutting implementation model to a remote control end;
and comparing the cutting implementation model with the original roadway model, and sending out an error alarm when the cutting implementation model is inconsistent with the original roadway model.
Optionally, as an embodiment of the present application, the method further includes:
controlling the development machine to keep a static state;
by the aiming measurement of the positioning robot to the positioning laser target ball, the coordinate of the laser target ball and the azimuth α from the base point of the positioning robot to the laser target ball can be obtainedfAnd angle of inclination αqCalculating the coordinates of a base point of the positioning robot by the aid of the inclination distance L;
and moving the positioning robot according to the base point coordinates of the positioning robot.
Optionally, as an embodiment of the present application, the method further includes:
arranging two laser target balls of which the connecting lines are parallel to an X axis of a machine body coordinate system, wherein the two laser target balls are a positioning target ball and a balance target ball respectively;
reversely calculating the coordinates of a first base point of the positioning robot according to the coordinates of the positioning target ball;
reversely calculating the coordinates of a second base point of the positioning robot according to the coordinates of the adjustment target ball;
and calculating an average value of the first base point coordinate and the second base point coordinate, and using the average value as a base point coordinate of the positioning robot.
Optionally, as an embodiment of the present application, the method further includes:
acquiring coordinates of a positioning target ball;
acquiring the coordinate of a balance target ball;
and correcting the posture of the heading machine according to the coordinates of the positioning target ball and the coordinates of the adjustment target ball.
Optionally, as an embodiment of the present application, the controlling the heading machine to cut the radial section according to the baseplate central axis polyline, the roadway section outline polygon and the motion base point coordinate of the heading machine cantilever includes:
calculating the position coordinate of the cutting head according to the coordinate of a motion base point of a cantilever of the tunneling machine and the dip angle of the cutting cantilever, the horizontal swing angle of the cutting arm and the length of the cantilever, which are monitored by a sensor;
according to the position coordinates of the cutting head and the designed shaft center multi-segment line of the roadway, calculating the section normal vector and the profile absolute coordinates of the next cutting step distance according to the section profile polygon of the roadway at the next time segment;
generating a cutting command according to the normal vector of the section and the absolute coordinate of the outline and sending the cutting command to a heading machine controller;
and the heading machine controller controls the heading machine to execute the cutting command.
Specifically, the tunneling method for automatic mapping and positioning comprises the following steps:
and S1, dispersing the roadway model given by the design system into a bottom plate central axis multi-segment line and a roadway section profile polygon.
Dispersing the bottom plate middle shaft of the roadway given by the design system into a plurality of sections
Profile polygon of roadway section
And a preset section cutting path multi-segment line
And stores the data into a preposed industrial personal computer and a remote control system.
And S2, setting a machine body coordinate system of the heading machine with the right side direction of the heading machine as an X axis, the head direction of the heading machine as a Y axis and the overall upward direction as a Z axis, wherein the X axis is vertical to the XOY plane.
Setting an X axis of a machine body coordinate system of the tunneling machine to point to the right side of the tunneling machine, setting a Y axis to point to the head direction of the tunneling machine, setting a Z axis to point upwards in general and to be vertical to an XOY surface, installing a machine body attitude monitoring gyroscope at a proper position of the tunneling machine, and enabling the installation attitude of the gyroscope to be consistent with the machine body coordinate system of the tunneling machine and monitoring the azimuth angle, the pitch angle and the roll angle of the tunneling machine to return to the attitude of the tunneling machine.
And S3, calibrating the relative position coordinate increment from the laser target ball position to the rotation center of the heading machine according to the coordinate axis increment of the machine body coordinate system.
The method comprises the following steps of installing a laser target ball at a position fixed on the tail part of the heading machine relative to a revolving platform of the heading machine, installing an adjustment target ball, setting a connecting line of a positioning target ball and the adjustment target ball to be parallel to an X coordinate axis of the machine body, and positioning the laser target ball for a measuring and positioning robot to track and position the heading machine, calibrating a relative position coordinate increment from the position of the positioning laser target ball to the center of a revolving disk of the heading machine according to the increment of each coordinate axis of a machine body coordinate system of the heading machine after the positioning laser target ball is installed, namely obtaining delta X, delta y and delta z through measurement and calculation so as to calculate the coordinates of a motion base point of a cantilever of the heading machine by the position of the laser target ball and the machine body coordinate system, wherein the calibration: assuming that the height of the positioning target ball is DhThe distance from the bottom point A to the center of the rotary disk along the Y axis of the machine body coordinate of the heading machine is LjThe distance from the X axis of the development machine body to the center of the rotary disk is LwThe elevation from the center of the rotary disk to the base point of the cantilever motion is JhThen there is deltax＝-Lw,Δy＝Lj,Δz＝-Dh-Jh。
And S4, positioning the position coordinates of the laser target ball of the heading machine by using the positioning robot and the north-seeking instrument.
When the measuring and positioning robot is still, the coordinate of the measuring base point of the measuring and positioning robot is assumed to be (x)j， yj，zj) The north view direction α can be measured by using a north indicator (or a fiber optic gyroscope)sUsing artificial pre-magnetic bias thetacCalculating true north direction αN＝αs+θcObtaining a base point (x) by using a laser target ball on a total station or a laser radar aiming heading machine and referring to the true north directionj，yj，zj) To the laser target ballAzimuth angle αfAnd angle of inclination αqAnd the slope distance L, thereby calculating the position (x) of the laser target ball on the heading machineb，yb，zb)：
xb＝xj+L×cos(αq)×sin(αf)
yb＝yj+L×cos(αq)×cos(αf)
zb＝zj+L×sin(αq)
The coordinates (x) of the adjustment target ball can be obtainedp，yp，zp)。
And S5, calculating the coordinates of the motion base point of the cantilever of the heading machine according to the position coordinates of the laser target ball and the relative position coordinate increment of the position of the laser target ball in the machine body coordinate system.
Monitoring azimuth angle f of heading machine by north indicator diagramjAnd a pitch angle qvAnd roll angle qhCalculating three coordinate axes of the coordinate system of the heading machine body as Jx，JyAnd JzThen, the coordinates of the base point of the cantilever motion are calculated by the following formula: pe＝(xe,ye,ze)＝Δx×Jx+Δy×Jy+Δz×Jz。
And S6, controlling the heading machine to cut the radial section according to the multi-segment line of the central axis of the bottom plate, the profile polygon of the roadway section and the coordinates of the motion base point of the cantilever of the heading machine.
The industrial computer is according to the current position of tunnelling cutterhead and the lane axis multisection line of design, thereby the section cutting path multisection line (section normal vector and profile absolute coordinate) of next cutting step is calculated according to next time slot tunnel section profile polygon, thereby the running gear who sends cutting command sequence to the controller control entry driving machine adjusts the entry driving machine to suitable position, the rethread control cantilever' S gyration hydro-cylinder, inclination adjusts the hydro-cylinder and telescopic cylinder accomplishes the cutting of this step according to this sectional cutting path (including drawing the eye, S type cutting, brush end and brush group etc. stage).
S7, as shown in FIG. 1In the cutting process of step S6, a cutting boom tilt angle θ is obtained by monitoring a cutting boom lift cylinder sensor of the heading machine, a cutting boom horizontal swing angle β (right swing is forward) is obtained by monitoring a turntable rotation cylinder sensor, a boom length D is obtained by monitoring a telescopic cylinder sensor, monitoring data is sent to an industrial personal computer, and the industrial personal computer calculates an absolute position (x) of the cutting head according to the monitoring datat，ytZt) by the following method:
first, let JyWinding JxRotating the angle theta to obtain a unit vector DxLet DxWinding JzRotating an angle of- β to obtain a unit vector Pd＝(xd,yd,zd) Finally, the absolute position of the cutting head is calculated using the following formula:
Pt＝(xt,yt,zt)＝Pe+D×Pd＝(xe+D×xd,ye+D×yd,ze+D×zd)
the industrial personal computer calculates and generates a cutting implementation path according to the absolute position of the cutting head and further generates a cutting implementation section;
meanwhile, after cutting of one step is finished, the measuring and positioning robot can scan a roadway and a bottom plate beside the robot once by using the three-dimensional laser scanner and send the result to the industrial personal computer.
The industrial personal computer carries out three-dimensional modeling according to a roadway profile data graph obtained by implementing a cutting section and the three-dimensional laser scanner, completes a real-time three-dimensional visual graph of a tunneling working face by combining attitude detection and positioning data of equipment such as a tunneling machine and the like, and sends the three-dimensional visual graph to the remote control end, so that remote monitoring can be realized.
And S8, when cutting of each step is finished, the industrial personal computer performs comparison calculation between the contour of the cutting section (obtained in the step S7) and the same center shaft as well as the designed roadway section and the center shaft, performs deviation early warning if necessary and issues a deviation correction control command of the heading machine.
And S9, when the measurement positioning robot needs to be moved, the industrial personal computer sends out an action command of stopping tunneling and the industrial personal computer, and the measurement positioning robot can walk to a specified new position according to the control command of the industrial personal computer after sending out the parameters of the laser target ball to the industrial personal computer.
When the heading machine is static, the position of the positioning robot is measured and calculated, and the coordinates (x) of the laser target ball can be measured by the positioning robot through aiming at the positioning laser target ballb，yb，zb)、αf、αqAnd L, calculating the coordinates (x) of the base point of the robotj，yj，zj)：
xj＝xb-L×cos(αq)×sin(αf)
yj＝yb-L×cos(αq)×cos(αf)
zj＝zb-L×sin(αq)
The coordinates (x) of the adjustment target ball can be obtainedp，yp，zp) By back-computing another set of values of the coordinates of the base point of the robot
Averaging to obtain more accurate (x)j，yj，zj)：
In addition to this, the coordinates (x) of the positioning target sphere can be usedb，yb，zb) Mean and difference target sphere coordinates (x)p，yp， zp) And (5) correcting the posture of the heading machine.
As shown in fig. 2, the heading system for automatic mapping and positioning provided by the embodiment of the present application includes:
the system comprises a measurement control module, a positioning robot, a front industrial personal computer and a remote control end, wherein the measurement control module, the positioning robot, the front industrial personal computer and the remote control end are arranged on a tunneling machine body; the measurement control module and the positioning robot are in communication connection with the front industrial personal computer; the front industrial personal computer is in communication connection with the remote control end;
the measurement control module includes: the robot body posture monitoring gyroscope is mounted on the robot body of the heading machine, and the mounting posture of the monitoring gyroscope is consistent with a preset robot body coordinate system of the heading machine; the laser target ball is arranged at the tail part of the tunneling machine and comprises a positioning target ball and a balance target ball, and a connecting line of the positioning target ball and the balance target ball is parallel to the X axis of a preset machine body coordinate system; the measurement control module also comprises a cutting cantilever inclination angle sensor, a cutting arm horizontal swing angle sensor, a cutting head telescopic stroke sensor and a heading machine controller;
the measuring and positioning robot is provided with a tracking navigation module and a walking module, the tracking navigation module is used for positioning a laser target ball on the heading machine by emitting laser, and the tracking navigation module of the measuring and positioning robot is provided with a north indicator, an inclination sensor and a three-dimensional scanning unit.
Specifically, the measurement control module includes:
the programmable controller can receive, store and feed back control command sequences and command execution results of the remote and local monitoring system, the command sequences comprise forward, backward, steering, accelerating, decelerating and other data control commands, and cutting arm inclination angle, cutting arm horizontal swing angle, cutting head stretching and other cylinder stroke commands;
a machine body attitude monitoring gyroscope 209 is installed at a proper position of the heading machine, the installation attitude of the gyroscope is consistent with a machine body coordinate system of the heading machine and is used for monitoring the attitude of the heading machine returning to the heading machine through an azimuth angle, a pitch angle and a roll angle, and a north-seeking instrument is selected as the monitoring gyroscope in the embodiment;
a positioning laser target ball 207 and an adjustment target ball 208 are arranged at the fixed position of the tail part of the heading machine relative to a revolving platform of the heading machine, and a connecting line of the positioning target ball 207 and the adjustment target ball 208 is set to be parallel to the X coordinate axis of the machine body;
a stroke sensor is arranged in a cutting arm lifting oil cylinder 202 of the heading machine to monitor the inclination angle theta of the cutting arm, a stroke sensor is arranged in a revolving platform revolving oil cylinder 204 of the heading machine to monitor the horizontal swinging angle β of the cutting arm, and a stroke sensor is arranged in a telescopic oil cylinder 203 of a cutting head 201 to monitor the length D of a cantilever and return the relative position of the cutting head 201 to a revolving platform 205.
The positioning robot is arranged behind the tunneling machine and can independently walk and stably stand. The robot is provided with a comprehensive tracking navigation and scanning device, a measuring robot monitoring box 211 is installed, the positioning robot is provided with four limbs and can support stable walking, the vertical rotating shaft 210 and the horizontal rotating shaft 212 can be controlled to rotate up, down, left and right, the laser target ball on the heading machine can be automatically found and positioned, and the robot has the functions of automatically pointing north, ranging, measuring azimuth, measuring inclination angle, three-dimensional scanning and the like.
The method is characterized in that a front industrial personal computer is arranged near a tunneling surface, can access all signals collected by various sensors of the measuring and positioning robot and the tunneling machine, can receive and store a control command sequence sent by a remote control system, can calculate absolute coordinates of the measuring and positioning robot and the tunneling machine, can establish a three-dimensional model of a roadway outline and a bottom plate, can generate and issue an optimal control command sequence to the measuring and positioning robot and the tunneling machine controller, can issue control and correction commands to walking and cutting paths of the tunneling machine and the robot, and can complete communication with a remote control system.
Therefore, the method calculates the coordinate increment of the laser target ball in the machine body coordinate system relative to the rotation center of the heading machine by creating the machine body coordinate system of the heading machine, positions the position coordinate of the laser target ball of the heading machine by using the positioning robot and the north-pointing instrument, obtains the coordinate of the motion base point of the cantilever of the heading machine according to the coordinate increment and the position coordinate of the laser target ball, and realizes the accurate positioning of the heading machine.
Although the present invention has been described in detail by referring to the drawings in connection with the preferred embodiments, the present invention is not limited thereto. Various equivalent modifications or substitutions can be made on the embodiments of the present invention by those skilled in the art without departing from the spirit and scope of the present invention, and these modifications or substitutions are within the scope of the present invention/any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A tunneling method for automatic mapping and positioning, characterized in that the method comprises the following steps:
dispersing a roadway model given by a design system into a bottom plate middle shaft multi-segment line and a roadway section profile polygon;
setting a machine body coordinate system of the heading machine by taking the right direction of the heading machine as an X axis, taking the head direction of the heading machine as a Y axis and taking the general direction as a Z axis, wherein the general direction is vertical to the XOY plane;
calibrating the relative position coordinate increment from the laser target ball position to the rotation center of the development machine according to the coordinate axis increment of the machine body coordinate system;
positioning the position coordinates of the laser target ball of the heading machine by using a positioning robot and a north indicator;
calculating the coordinates of a motion base point of a cantilever of the heading machine according to the position coordinates of the laser target ball and the relative position coordinate increment of the position of the laser target ball in a machine body coordinate system;
and controlling the heading machine to cut the radial section according to the multi-segment line of the central shaft of the bottom plate, the profile polygon of the roadway section and the coordinates of the motion base point of the cantilever of the heading machine.
2. The method of claim 1, wherein calibrating the relative position coordinate increment from the laser target location to the center of rotation of the heading machine in accordance with the coordinate axis increment of the airframe coordinate system comprises:
Δx＝-Lw,Δy＝Lj,Δz＝-Dh-Jhthe increments on the three coordinate axes are set to be Δ x, Δ y, and Δ z, respectively; the laser target ball comprises a positioning target ball and a balance target ball, a connecting line of the positioning target ball and the balance target ball is parallel to a preset X axis of a machine body coordinate system, and the height of the positioning target ball is DhThe distance from the bottom point A to the rotation center along the Y axis of the machine body coordinate of the heading machine is LjThe distance from the X axis of the development machine body to the center of rotation is LwThe elevation from the rotation center to the base point of the cantilever motion is Jh。
3. The method of claim 2, wherein obtaining the heading machine attitude using a north arrow comprises:
obtaining the coordinate of a measurement base point of the positioning robot as (x)j，yj，zj)；
According to north-looking direction α measured by north-seeking instrumentsAnd an artificial pre-declination angle thetacCalculate true North Direction αN＝αs+θc；
Obtaining a base point (x) by using a laser target ball on a total station or a laser radar collimation heading machine and referring to the true north directionj，yj，zj) Azimuth angle α to laser target ballfAnd angle of inclination αqAnd a pitch L;
according to the base point (x)j，yj，zj) And azimuth angle αfAnd angle of inclination αqAnd the slant distance L calculates the position (x) of the laser target ball on the heading machineb，yb，zb)：
xb＝xj+L×cos(αq)×sin(αf)
yb＝yj+L×cos(αq)×cos(αf)
zb＝zj+L×sin(αq)。
4. The method of claim 3, wherein calculating the motion base coordinates of the boom of the heading machine based on the position coordinates of the laser target ball and the relative position coordinate increments of the laser target ball position in the frame coordinate system comprises:
obtaining azimuth angle f of development machine by north indicatorjAnd a pitch angle qvAnd roll angle qh；
According to the azimuth angle fjAnd a pitch angle qvAnd roll angle qhCalculating three coordinate axes of a coordinate system of the body of the heading machine as Jx，JyAnd Jz；
And calculating the coordinates of the cantilever motion base point according to the coordinate axes and the laser target sphere coordinate increment.
5. The method of claim 1, further comprising:
monitoring by using a cantilever lifting oil cylinder sensor of the development machine to obtain a cantilever inclination angle, monitoring by using a rotary oil cylinder sensor of a rotary table to obtain a cantilever horizontal swing angle, and monitoring by using a telescopic oil cylinder sensor to obtain a cantilever length;
calculating the absolute position of the cutting head according to the inclination angle of the cantilever, the horizontal swing angle of the cantilever and the length of the cantilever;
calculating and implementing a cutting section according to the absolute position of the cutting head;
scanning a roadway by using a positioning robot to obtain a three-dimensional image of the roadway;
creating a cutting implementation model according to the cutting implementation section and the roadway three-dimensional image and sending the cutting implementation model to a remote control end;
and comparing the implemented cutting model with the original roadway model, and sending out a false alarm when the implemented cutting model is inconsistent with the original roadway model.
6. The method of claim 1, further comprising:
controlling the development machine to keep a static state;
by the aiming measurement of the positioning robot to the positioning laser target ball, the coordinate of the laser target ball and the azimuth α from the base point of the positioning robot to the laser target ball can be obtainedfAnd angle of inclination αqCalculating the coordinates of a base point of the positioning robot by the aid of the inclination distance L;
and moving the positioning robot according to the base point coordinates of the positioning robot.
7. The method of claim 6, further comprising:
arranging two laser target balls of which the connecting lines are parallel to an X axis of a machine body coordinate system, wherein the two laser target balls are a positioning target ball and a balance target ball respectively;
reversely calculating the coordinates of a first base point of the positioning robot according to the coordinates of the positioning target ball;
reversely calculating the coordinates of a second base point of the positioning robot according to the coordinates of the adjustment target ball;
and calculating an average value of the first base point coordinate and the second base point coordinate, and using the average value as a base point coordinate of the positioning robot.
8. The method of claim 7, further comprising:
acquiring coordinates of a positioning target ball;
acquiring the coordinate of a balance target ball;
and correcting the posture of the heading machine according to the coordinates of the positioning target ball and the coordinates of the adjustment target ball.
9. The method of claim 1, wherein controlling the heading machine to cut the radial section according to the centerline axis polyline of the floor, the profile polygon of the roadway section, and the coordinates of the motion base point of the boom of the heading machine comprises:
calculating the position coordinate of the cutting head according to the coordinate of a motion base point of a cantilever of the tunneling machine and a cantilever inclination angle, a cantilever horizontal swing angle and a cantilever length monitored by a sensor;
according to the position coordinates of the cutting head and the designed multi-segment line of the bottom plate middle shaft, calculating the normal vector of the section and the absolute coordinates of the profile of the next cutting step distance according to the profile polygon of the section of the roadway at the next time segment;
generating a cutting command according to the normal vector of the section and the absolute coordinate of the outline and sending the cutting command to a heading machine controller;
and the heading machine controller controls the heading machine to execute the cutting command.
10. An automated mapping and positioning tunneling system, comprising: the remote control system comprises a positioning robot, a front industrial personal computer, a remote control end and a measurement control module arranged on a tunneling machine body, wherein the positioning robot is arranged behind the tunneling machine body; the measurement control module and the positioning robot are in communication connection with the front industrial personal computer; the front industrial personal computer is in communication connection with the remote control end;
the measurement control module includes: the robot body posture monitoring gyroscope is mounted on a robot body of the heading machine, the mounting posture of the monitoring gyroscope is consistent with a preset robot body coordinate system of the heading machine, the preset robot body coordinate system of the heading machine is provided with a robot body coordinate system of the heading machine by taking the right direction of the heading machine as an X axis, the head direction of the heading machine as a Y axis and the general direction as a Z axis, wherein the robot body coordinate system is vertical to an XOY plane; the laser target ball is arranged at the tail part of the tunneling machine and comprises a positioning target ball and a balance target ball, and a connecting line of the positioning target ball and the balance target ball is parallel to the X axis of a preset machine body coordinate system; the measurement control module also comprises a cantilever tilt angle sensor, a cantilever horizontal swing angle sensor, a cutting head telescopic stroke sensor and a heading machine controller;
the positioning robot is provided with a tracking navigation module and a walking module, the tracking navigation module positions a laser target ball on the heading machine by emitting laser, and the tracking navigation module of the positioning robot is provided with a north indicator, an inclination sensor and a three-dimensional scanning unit.
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| CN110700839B (en) * | 2019-10-21 | 2021-08-13 | 北京易联创安科技发展有限公司 | Heading machine pose measuring device based on laser scanner and measuring method thereof |
| CN111005730B (en) * | 2019-12-11 | 2020-11-24 | 中国矿业大学 | Tunneling machine footage measuring method |
| CN111396047B (en) * | 2020-03-26 | 2023-05-12 | 山东蓝光软件有限公司 | Measuring and positioning system and method for coal face equipment group |
| CN111561543B (en) * | 2020-04-17 | 2021-12-07 | 中国矿业大学 | Vibration reduction system of tunneling machine inertial navigation combined positioning device and using method thereof |
| CN113252044A (en) * | 2021-05-25 | 2021-08-13 | 中国煤炭科工集团太原研究院有限公司 | Method for calculating deviation of tunneling equipment body |
| CN113246314B (en) * | 2021-07-02 | 2021-10-26 | 中铁工程服务有限公司 | Chain saw cutting machine and cutting method and cutting device thereof |
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| CN102207382B (en) * | 2011-03-31 | 2012-10-03 | 天地（常州）自动化股份有限公司 | Pose measure system of cantilever type heading machine |
| ES2526135B1 (en) * | 2013-05-30 | 2015-08-18 | Universidad Carlos Iii De Madrid | SYSTEM AND METHOD FOR THE VERIFICATION OF THE TUNNEL TRAJECTORY |
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